/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

/**
 * @file
 **/
#pragma once

#include <memory>
#include <vector>

#include "qp_solver.h"
#include "spline_1d_solver.h"
#include <qpOASES.hpp>

class ActiveSetSpline1dSolver : public Spline1dSolver
{
public:
  ActiveSetSpline1dSolver(const std::vector<double>& x_knots, const uint32_t order) : Spline1dSolver(x_knots, order)
  {
  }

  bool Solve() override;

private:
  std::unique_ptr<::qpOASES::SQProblem> sqp_solver_;
};